Dissertation
Dissertation > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot

Algorithm Research for Robot Trajectory Tracking Control

Author LiWenSheng
Tutor GaoJian
School Jiangsu University of Science and Technology
Course Control Theory and Control Engineering
Keywords robot system trajectory tracking PD-feedback robust adaptive control global sliding mode
CLC TP242
Type Master's thesis
Year 2011
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Robot as accomplishment of development of science and technology, has been widely applied in production practice. With the rapid development of modern science and technology, as well as the growing complexity of control object, controller and task, the requirements of high quality for control are on the way. As is known there exist strong coupling, uncertainties, and great external disturbances in robotic system, meanwhile high tracking accuracy is required in tracking control. Therefore, the robot trajectory tracking is a difficult control problem. In the study of robot control theories, manipulator control problem provides important backgrounds for the modern control theory, intelligent control theory, artificial intelligence research, and play an important significance to the development of control theory. On the base of reference and summary of the vast literature, this paper conducted a preliminary study of manipulator trajectory tracking control with uncertainties of system parameters and external disturbance.Firstly, the article briefly describes the research status and trends in the domestic and international field, and relates the content and significance of research project, as well as present the structure of the system and the robot dynamics model. Hereafter, the robot kinetics is given.Then, the paper systematically combeds the several types of current robot control strategies. On the basis, the complex control algorithms are employed to control for manipulator trajectory tracking to overcome nonlinear, coupling, uncertainty factors and other factors.(1) For uncertain robotic systems with the external interference which is difficult to measure, the modified robust adaptive control strategy is applied to manipulator trajectory tracking. By joining the PD control structure, the controller can overcome the initial torque input problem, and enhance control system anti-jamming capability. The simulation results show the effectiveness of the proposed control strategy.(2) To solve problems of nonlinear system control, sliding mode is of completely selfadaptability and strong robustness on the various system parameters uncertainties and external disturbances. In view of this characteristic, we take adaptive controller based on global sliding mode to use in the study of manipulator trajectory tracking control. The control strategy can eliminate the reaching phase of traditional sliding structure, and ensure the system has strong robustness in the whole dynamic response process. Simulation results show that the controller can achieve global asymtotic tracking for scheduled track and the closed-loop system stability.

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